void CALLBACK TimerProc(void* lpParametar,
BOOLEAN TimerOrWaitFired)
{
CO_timer1ms++;
if (CO->CANmodule[0]->CANnormal) {
bool_t syncWas;
int i;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
/* Re-enable CANrx, if it was disabled by SYNC callback */
CO_CAN_ISR_ENABLE = 1;
#if CO_NO_CAN_MODULES >= 2
CO_CAN_ISR2_ENABLE = 1;
#endif
/* Further I/O or nonblocking application code may go here. */
#if CO_NO_TRACE > 0
OD_time.epochTimeOffsetMs++;
for (i = 0; i<OD_traceEnable && i<CO_NO_TRACE; i++) {
CO_trace_process(CO->trace[i], OD_time.epochTimeOffsetMs);
}
#endif
program1ms();
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
}
LARGE_INTEGER Frequency;
LARGE_INTEGER StartingTime;
LARGE_INTEGER ElapsedMicroseconds;
QueryPerformanceFrequency(&Frequency);
QueryPerformanceCounter(&StartingTime);
ElapsedMicroseconds.QuadPart = StartingTime.QuadPart - li_timer.QuadPart;
ElapsedMicroseconds.QuadPart *= 1000000;
ElapsedMicroseconds.QuadPart /= Frequency.QuadPart;
double t = ElapsedMicroseconds.QuadPart / 1000.0;
t = 1000.0 / t;
OD_performance[ODA_performance_timerCycleTime] = t;
if (t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
li_timer = StartingTime;
}
/* Realtime thread for CAN receive and taskTmr ********************************/
static void* rt_thread(void* arg) {
/* Endless loop */
while(CO_endProgram == 0) {
int ready;
struct epoll_event ev;
ready = epoll_wait(rt_thread_epoll_fd, &ev, 1, -1);
if(ready != 1) {
if(errno != EINTR) {
CO_error(0x12100000L + errno);
}
}
else if(CANrx_taskTmr_process(ev.data.fd)) {
int i;
/* code was processed in the above function. Additional code process below */
INCREMENT_1MS(CO_timer1ms);
/* Monitor variables with trace objects */
CO_time_process(&CO_time);
#if CO_NO_TRACE > 0
for(i=0; i<OD_traceEnable && i<CO_NO_TRACE; i++) {
CO_trace_process(CO->trace[i], *CO_time.epochTimeOffsetMs);
}
#endif
/* Execute optional additional application code */
app_program1ms();
/* Detect timer large overflow */
if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_TASK_OVERFLOW_US && rtPriority > 0 && CO->CANmodule[0]->CANnormal) {
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
}
}
else {
/* No file descriptor was processed. */
CO_error(0x12200000L);
}
}
return NULL;
}
